merge 7 scene dataset to point cloud

Merge7Scenes.py

import open3d as o3d
import numpy as np
from tqdm import trange
from os.path import join

FOLDER = r"E:\workspace\dataset\24_7scene\chess"


def main():
    volume = o3d.pipelines.integration.ScalableTSDFVolume(
        voxel_length=2.0 / 512.0,
        sdf_trunc=0.04,
        color_type=o3d.pipelines.integration.TSDFVolumeColorType.RGB8,
    )
    intrinsic = o3d.camera.PinholeCameraIntrinsic(
        o3d.camera.PinholeCameraIntrinsicParameters.PrimeSenseDefault
    )
    intrinsic.set_intrinsics(640, 480, 585, 585, 320, 240)
    for j in range(1, 6):
        for i in trange(100):
            file_name = f"frame-{str(i).zfill(6)}"
            camera_pose = np.loadtxt(
                join(FOLDER, f"seq-{str(j).zfill(2)}", f"{file_name}.pose.txt")
            )
            color = o3d.io.read_image(
                join(FOLDER, f"seq-{str(j).zfill(2)}", f"{file_name}.color.png")
            )
            depth = o3d.io.read_image(
                join(FOLDER, f"seq-{str(j).zfill(2)}", f"{file_name}.depth.png")
            )
            rgbd = o3d.geometry.RGBDImage.create_from_color_and_depth(
                color, depth, depth_trunc=4.0, convert_rgb_to_intensity=False
            )
            volume.integrate(rgbd, intrinsic, np.linalg.inv(camera_pose))
    pcd = volume.extract_point_cloud()
    # o3d.visualization.draw_geometries([pcd])
    o3d.io.write_point_cloud(join(FOLDER, "pcd.ply"), pcd)


if __name__ == "__main__":
    main()